ROS2 Control_2
Table of Content
sudo apt install ros-humble-ros2-control
sudo apt install ros-humble-ros2-controllers
sudo apt install ros-humble-gazebo-ros2-control
Control manager#
Hardware interface#

ros2 control list_hardware_interfaces
Resource manager#
Robot may have multiple hardware interface
The Resource Manager gathers all the hardware and expose them all together for the controllers

Controllers#
The controllers loaded by the Controller Manager
The Controller Manager using yaml config file to load and config the controllers
Two controller can’t use the same resource for command interface It can use states interface because it R.O
Resource#
- #12 - ros2_control Concept & Simulation
- Using ros2_control to drive our robot (off the edge of the bench…)
- 12a - ros2_control extra bits
- Solving the problem EVERY robot has (with ros2_control)
- You can use ANY hardware with ros2_control
- ros-controls/ros2_control_demos